/*******************************************************************************
 *      Title     : make_shared_from_pool.h
 *      Project   : moveit_servo
 *      Created   : 1/11/2019
 *      Author    : Tyler Weaver
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * All rights reserved.
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 *******************************************************************************/

#pragma once

#include <boost/make_shared.hpp>
#include <boost/pool/pool_alloc.hpp>

namespace moveit
{
namespace util
{
// Useful template for creating messages from a message pool
template <typename T>
boost::shared_ptr<T> make_shared_from_pool()
{
  using allocator_t = boost::fast_pool_allocator<boost::shared_ptr<T>>;
  return boost::allocate_shared<T, allocator_t>(allocator_t());
}

}  // namespace util
}  // namespace moveit
